Traveling crane operation control apparatus and method

Abstract

To provide a traveling crane operation control apparatus and method enabling an operator to operate a traveling crane quickly and accurately by one hand and by a motion of his or her body with a controller worn thereon, without the need to gaze at his or her hand, and also allowing variable-speed control and fine speed control of each drive unit. An operation control apparatus for a traveling crane has an operation control circuit section 1 including a base unit 2 wearable on an arm 4 of an operator and a control unit 3 operable by a hand. The base unit 2 has base unit tilt detecting means detecting a tilt direction and tilt angle of the base unit 2 in a vertical plane, base unit direction detecting means detecting a direction in which the base unit 2 points in a horizontal plane, and command signal generating means generating a travel command signal and a travel speed command signal for a travel motor, a traverse command signal and a traverse speed command signal for a traverse motor, and an elevation command signal and an elevation speed command signal for an elevation motor. The traveling crane can be controlled to perform travel, traverse, lifting and lowering operations simply by pointing the base unit 2 in a direction in which travel and traverse motions are desired to occur and in a vertical direction in which a lifting or lowering motion is desired to occur, and actuating the control unit 3.

The invention claimed is: 
     
       1. A traveling crane operation control apparatus for a traveling crane having travel rails laid in a predetermined direction in a horizontal plane, a traverse rail disposed in a direction perpendicular to said travel rails and moved along said travel rails by a travel motor, and an electric hoist having a traverse motor for moving along said traverse rail and an elevation motor for lifting and lowering a load, said traveling crane operation control apparatus comprising:
 an operation control circuit section including a base unit wearable on an arm of an operator and a control unit operable by a hand of the arm wearing said base unit; 
 said base unit having base unit tilt detecting means detecting a vertical tilt direction and tilt angle of said base unit in a vertical plane, base unit direction detecting means detecting a direction in which said base unit points in a horizontal plane, and command signal generating means generating a travel command signal and a travel speed command signal for said travel motor, a traverse command signal and a traverse speed command signal for said traverse motor, and an elevation command signal and an elevation speed command signal for said elevation motor; 
 said control unit having at least motion decision means outputting a motion decision signal to the command signal generating means of said base unit; 
 wherein, said command signal generating means has the following functions A, B, and C: 
 A. a function of generating the travel command signal and the travel speed command signal, and the traverse command signal and the traverse speed command signal according to a detection signal from said base unit direction detecting means when the operator is pointing the arm wearing said base unit in a direction for movement of said traveling crane in the horizontal plane and when the motion decision signal is output from said motion decision means; 
 B. a function of generating the elevation command signal and the elevation speed command signal according to a detection signal from said base unit tilt detecting means when the operator is pointing the arm wearing said base unit in a vertical direction for lifting or lowering of the load by said electric hoist and when the motion decision signal is output from said motion decision means; and 
 C. a function of generating the elevation command signal and the elevation speed command signal, the travel command signal and the travel speed command signal, and the traverse command signal and the traverse speed command signal according to detection signals from said base unit direction detecting means and said base unit tilt detecting means when the operator is pointing the arm wearing said base unit in a direction for movement of said traveling crane in the horizontal plane and in a vertical direction for lifting or lowering of the load by said electric hoist and when the motion decision signal is output from said motion decision means. 
 
     
     
       2. The traveling crane operation control apparatus of  claim 1 , wherein the motion decision means of said control unit has a speed signal output function to output a speed signal designating a speed in addition to said motion decision signal;
 said command signal generating means having a function to generate the travel speed command signal and the traverse speed command signal for moving the traveling crane in said moving direction and the elevation speed command signal for lifting or lowering the traveling crane according to the speed signal from said speed signal output function. 
 
     
     
       3. The traveling crane operation control apparatus of  claim 1 , wherein the motion decision means of said control unit has a speed signal output function to output a speed signal designating a speed in addition to said motion decision signal,
 said command signal generating means divides a vertical tilt angle range of said arm into a first tilt angle range, a second tilt angle range, and a third tilt angle range, wherein any angle within said first tilt angle range is less than any angle within said second tilt angle range, and any angle within said second tilt angle range is less than any angle within said third tilt angle range, and 
 said command signal generating means has the following first, second and third functions according to a range of the vertical tilt angle detected by said base unit tilt detecting means: 
 a first function with which when the vertical tilt angle detected is in said first tilt angle range, the command signal generating means generates the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means and also generates the travel speed command signal and the traverse speed command signal according to the speed signal output from the speed signal output function of said control unit; 
 a second function with which when the vertical tilt angle detected is in said second tilt angle range, the command signal generating means generates the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means and generates the elevation command signal for lifting or lowering the load in the vertical direction detected by said base unit tilt detecting means and further generates the travel speed command signal, the traverse speed command signal and the elevation speed command signal according to the speed signal output from the speed signal output function of said control unit; and 
 a third function with which when the vertical tilt angle detected is in said third tilt angle range, the command signal generating means generates the elevation command signal for lifting or lowering the load in the vertical direction detected by said base unit tilt detecting means and also generates the elevation speed command signal according to the speed signal output from the speed signal output function of said control unit. 
 
     
     
       4. The traveling crane operation control apparatus of  claim 3 , wherein said first tilt angle range is from 0° to 15°, said second tilt angle range is from 15° to 60°, and said third tilt angle range is from 60° to 90°. 
     
     
       5. The traveling crane operation control apparatus of  claim 1 , wherein the motion decision means of said control unit has a speed signal output function to output a speed signal designating a speed in addition to said motion decision signal;
 said command signal generating means divides a vertical tilt angle range of said arm into a first tilt angle range, a second tilt angle range, and a third tilt angle range, wherein any angle within said first tilt angle range is less than any angle within said second tilt angle range, any angle within said second tilt angle range is less than any angle within said third tilt angle range, and 
 said command signal generating means has the following first, second, and third functions according to a range of the vertical tilt angle detected by said base unit tilt direction detecting means: 
 a first function with which when the vertical tilt angle detected is in said first tilt angle range, the command signal generating means generates the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means and also generates the travel speed command signal and the traverse speed command signal according to the speed signal output from the speed signal output function of said control unit; 
 a second function with which when the vertical tilt angle detected is in said second tilt angle range, the command signal generating means does not generate any of the travel command signal, the travel speed command signal, the traverse command signal, the traverse speed command signal, the elevation command signal and elevation speed command signal; and 
 a third function with which when the vertical tilt angle detected is in said third tilt angle range, the command signal generating means generates the elevation command signal for lifting or lowering the load in the vertical direction detected by said base unit tilt detecting means and also generates the elevation speed command signal according to the speed signal output from the speed signal output function of said control unit. 
 
     
     
       6. The traveling crane operation control apparatus of  claim 5 , wherein said first tilt angle range is from 0° to 30°, said second tilt angle range is from 30° to 45°, and said third tilt angle range is from 45° to 90°. 
     
     
       7. The traveling crane operation control apparatus of  claim 1 , wherein the motion decision means of said control unit has a speed signal output function to output a speed signal designating a speed in addition to said motion decision signal and also has an elevation trigger signal output function to output an elevation trigger signal;
 said command signal generating means having the following first, second and third functions: 
 a first function with which the command signal generating means generates the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means and also generates the travel speed command signal and the traverse speed command signal according to the speed signal output from the speed signal output function of said control unit; 
 a second function with which the command signal generating means generates the elevation command signal in response to the elevation trigger signal from the elevation trigger signal output function of said control unit and also generates an elevation speed command signal according to the vertical tilt angle detected by said base unit tilt detecting means; 
 a third function with which the command signal generating means generates the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means, generates the travel speed command signal and the traverse speed command signal according to the speed signal output from the speed signal output function of said control unit, outputs the elevation command signal in response to the elevation trigger signal from the elevation trigger signal output function of said control unit and further generates the elevation speed command signal according to the vertical tilt angle detected by said base unit tilt detecting means. 
 
     
     
       8. The traveling crane operation control apparatus of  claim 1 , wherein said control unit is provided with a control unit direction detecting means detecting a direction in which said control unit points in a horizontal plane or a control unit tilt detecting means detecting a vertical tilt direction and tilt angle of said control unit in a vertical plane to detect a relative angle of a wrist to the arm wearing said base unit, said command signal generating means generating the elevation command signal and the elevation speed command signal according to said relative angle detected. 
     
     
       9. A traveling crane operation control apparatus for a traveling crane having travel rails laid in a predetermined direction in a horizontal plane, a traverse rail disposed in a direction perpendicular to said travel rails and moved along said travel rails by a travel motor, and an electric hoist having a traverse motor for moving along said traverse rail and an elevation motor for lifting and lowering a load, said traveling crane operation control apparatus comprising:
 an operation control circuit section including a base unit wearable on an arm of an operator and a control unit wearable on a finger of the arm wearing said base unit; 
 said base unit having base unit direction detecting means detecting a direction in which said base unit points in the horizontal plane, and command signal generating means generating a travel command signal and a travel speed command signal for said travel motor, a traverse command signal and a traverse speed command signal for said traverse motor, and an elevation command signal and an elevation speed command signal for said elevation motor; 
 said control unit having motion decision and speed setting means operable by a finger other than the finger wearing said control unit and outputting a travel-traverse decision signal and a speed signal designating a speed to the command signal generating means of said base unit, and lifting-lowering decision means outputting an lifting-lowering decision signal to the command signal generating means of said base unit; 
 said command signal generating means having the following first and second functions: 
 a first function of generating the travel command signal and the traverse command signal for moving the traveling crane in the direction detected by said base unit direction detecting means and also generating the travel speed command signal and the traverse speed command signal according to said speed signal when the operator is pointing the arm wearing said base unit in a direction for movement of said traveling crane in the horizontal plane and when the travel-traverse decision signal is output from said motion decision and speed setting means; and 
 a second function of generating the elevation command signal and the constant-speed elevation speed command signal when the lifting-lowering decision signal is output from the lifting-lowering decision means. 
 
     
     
       10. The traveling crane operation control apparatus of  claim 9 , wherein said base unit has base unit tilt detecting means detecting a vertical tilt direction and angle of said base unit in a vertical plane;
 said command signal generating means having the following third function: 
 a third function with which the command signal generating means outputs the elevation command signal and the elevation speed command signal designating a speed corresponding to the tilt angle detected by said base unit tilt detecting means on condition that there is the lifting-lowering decision signal from said lifting-lowering decision means. 
 
     
     
       11. A traveling crane operation control apparatus for a traveling crane having travel rails laid in a predetermined direction in a horizontal plane, a traverse rail disposed in a direction perpendicular to said travel rails and moved along said travel rails by a travel motor, and an electric hoist having a traverse motor for moving along said traverse rail and an elevation motor for lifting and lowering a load,
 said traveling crane operation control apparatus comprising: 
 7an operation control circuit section including a base unit wearable on a body part of an operator other than an arm of the operator and a control unit operable by a hand of the operator; 
 said control unit having control unit tilt detecting means detecting a vertical tilt direction and tilt angle of said control unit in a vertical plane, a control unit direction detecting means detecting a direction in which said control unit points in the horizontal plane, and motion decision and speed setting means outputting a motion decision signal and a speed signal; 
 said base unit having command signal generating means generating a travel command signal and a travel speed command signal for said travel motor, a traverse command signal and a traverse speed command signal for said traverse motor, and an elevation command signal and an elevation speed command signal for said elevation motor; 
 said command signal generating means of said base unit classifying the tilt angle detected by said control unit tilt detecting means into one of three tilt angle ranges and having the following first, second and third functions; 
 a first function of generating the travel command signal and the traverse command signal, and speed command signals respectively associated with; 
 said command signals when the tilt angle detected by said tilt detecting means is in said first tilt angle range and when the motion decision signal is output from said motion decision and speed setting means; 
 a second function of generating the travel command signal, the traverse command signal, and the lifting or lowering command signal according to whether the tilt direction of said control unit is upward or downward, and also generating speed command signals respectively associated with said command signals when the tilt angle detected by said tilt detecting means is in said second tilt angle range and when the motion decision signal is output from said motion decision and speed setting means; and 
 a third function of generating the lifting or lowering command signal according to whether the pointing direction of the control unit is upward or downward, and also generating a speed command signal associated with said lifting or lowering command signal when the tilt angle detected by said tilt detecting means is in said third tilt angle range and when the motion decision signal is output from said motion decision and speed setting means. 
 
     
     
       12. The traveling crane operation control apparatus of  claim 11 , wherein said command signal generating means generates speed command signals respectively associated with the travel command signal and the traverse command signal for said first tilt range according to the speed signal from said motion decision and speed setting means, generates speed command signals respectively associated with the travel command signal and the traverse command signal for said second tilt range according to the speed signal from said motion decision and speed setting means, generates the speed command signal associated with the lifting or lowering command signal for said second tilt range according to the tilt angle detected by said control unit tilt detecting means, and generates the speed command signal associated with the lifting or lowering command signal for said third tilt range according to the speed signal from said motion decision and speed setting means. 
     
     
       13. The traveling crane operation control apparatus of  claim 11 , wherein said first tilt angle range is from 0° to 15°, said second tilt angle range is from 15° to 60°, and said third tilt angle range is from 60° to 90°. 
     
     
       14. A traveling crane operation control method for a traveling crane having travel rails laid in a predetermined direction in a horizontal plane, a traverse rail disposed in a direction perpendicular to said travel rails and moved along said travel rails by a travel motor, and an electric hoist having a traverse motor for moving along said traverse rail and an elevation motor for lifting and lowering a load, said traveling crane operation control method comprising:
 the following steps by an operator: 
 a step of wearing, on a body of the operator, a base unit including tilt detecting means detecting a vertical tilt direction in a vertical plane and direction detecting means detecting a direction in the horizontal plane; 
 a step of pointing said base unit in a direction for movement of the traveling crane the horizontal plane, or in a direction for lifting or lowering of the load in the vertical plane, or in both said directions for movement and lifting or lowering; and 
 a step of operating a hand-operated control unit with a hand of the operator, thereby moving said traveling crane only in said direction, for movement of the traveling crane in which the operator is pointing said base unit, lifting or lowering the load by said electric hoist only in said direction for lifting or lowering of the load in which the operator is pointing said base unit, or conducting both the movement and the lifting or lowering only in said directions for movement and lifting or lowering, in which the operator is pointing said base unit, simultaneously.